Extension Force Control Considering Contact with an Object Using a Wearable Robot for an Upper Limb

Yonezawa, Keishi; Mizutani, Naoto; Kato, Norihiko; Yano, Ken’ichi; Aoki, Takaakl; Kobayashi, Yasuyukl; Nishimoto, Yuji

doi:10.1109/smc.2013.606

Cited by 7 publications

(3 citation statements)

References 7 publications

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“…Hong et al ( 2019 ) have triggered hand orthosis opening and closing by a strain gauge attached to the non-actuated ipsilateral thumb. For wrist, elbow or shoulder orthoses, the sensors were placed between the respective upper arm segment and mechanical structure of the ULO (Sasaki et al, 2005 ; Kiguchi, 2007 ; Lee et al, 2008 ; Yonezawa et al, 2013 ; Kooren et al, 2016 ; Kapsalyamov et al, 2019 ).…”

Section: Reviewmentioning

confidence: 99%

Intention Detection Strategies for Robotic Upper-Limb Orthoses: A Scoping Review Considering Usability, Daily Life Application, and User Evaluation

et al. 2022

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Wearable robotic upper limb orthoses (ULO) are promising tools to assist or enhance the upper-limb function of their users. While the functionality of these devices has continuously increased, the robust and reliable detection of the user's intention to control the available degrees of freedom remains a major challenge and a barrier for acceptance. As the information interface between device and user, the intention detection strategy (IDS) has a crucial impact on the usability of the overall device. Yet, this aspect and the impact it has on the device usability is only rarely evaluated with respect to the context of use of ULO. A scoping literature review was conducted to identify non-invasive IDS applied to ULO that have been evaluated with human participants, with a specific focus on evaluation methods and findings related to functionality and usability and their appropriateness for specific contexts of use in daily life. A total of 93 studies were identified, describing 29 different IDS that are summarized and classified according to a four-level classification scheme. The predominant user input signal associated with the described IDS was electromyography (35.6%), followed by manual triggers such as buttons, touchscreens or joysticks (16.7%), as well as isometric force generated by residual movement in upper-limb segments (15.1%). We identify and discuss the strengths and weaknesses of IDS with respect to specific contexts of use and highlight a trade-off between performance and complexity in selecting an optimal IDS. Investigating evaluation practices to study the usability of IDS, the included studies revealed that, primarily, objective and quantitative usability attributes related to effectiveness or efficiency were assessed. Further, it underlined the lack of a systematic way to determine whether the usability of an IDS is sufficiently high to be appropriate for use in daily life applications. This work highlights the importance of a user- and application-specific selection and evaluation of non-invasive IDS for ULO. For technology developers in the field, it further provides recommendations on the selection process of IDS as well as to the design of corresponding evaluation protocols.

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Section: Reviewmentioning

confidence: 99%

Intention Detection Strategies for Robotic Upper-Limb Orthoses: A Scoping Review Considering Usability, Daily Life Application, and User Evaluation

et al. 2022

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“…Since EMG is not applicable in the industrial environments targeted by the project, a glove equipped with thin and flexible force sensors similar to [12,13] will be used to estimate the users intention from the measured grip force.…”

Section: Application Of the Concept 31 Development Of A Design Prototypementioning

confidence: 99%

A Novel Concept for Wearable, Modular and Soft Support Systems Used in Industrial Environments

Otten

Stelzer²,

Weidner

et al. 2016

2016 49th Hawaii International Conference on System Sciences (HICSS)

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This paper presents a novel concept for wearable support systems based on the approach of the Human Hybrid Robot (HHR), which can be adapted easily to the user and the activity. The concept focuses on modularity and makes intensive use of new manufacturing technologies like 3D-printing as well as flexible kinematics and textile components, in order to fit the system to different individuals and tasks as well as to increase human safety. The main idea can be applied to various applications. In this paper we are focusing on a functional exoskeleton prototype for the upper extremities. It comprises a Human-Machine-Interface (HMI) using a glove equipped with haptic sensors to measure grip force as well as force sensors in a coupling to the user at the forearm. This functional prototype was then successfully evaluated in a blind study with 20 test subjects

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“…Researchers have been developing rigid exoskeletons in terms of rehabilitation use for decades. Commercial rigid upper-limb exoskeletons include HAL and Armeo Power [3,4].…”

Section: Introductionmentioning

confidence: 99%

A review of upper-limb soft exosuit

Guo

2023

TNS

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A rigid exoskeleton has been developed for decades, and its feasibility has been proven in many areas, such as rehabilitation. Unlike the rigid exoskeleton, the soft exosuit provides a new insight for wearable robotics development and has drawn much attention as the external muscles instead of exoskeletons, especially for supporting users activities of daily living (ADL) and human body augmentation. This paper reviews the upper-limb soft exosuit studies in the last three years, including the core technologies and the current challenges that need to be addressed. Then, the actuator designs were described, including motor-tendon unit, pneumatic artificial muscle, hydraulic artificial muscle, and textile-based actuation. Their advantages and disadvantages were given and the applications were listed. Also, as the other part of core technologies described in this paper, the controller design which contains low-level and high-level control was discussed. Finally, the challenges were listed, which could be the further directions of research.

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Extension Force Control Considering Contact with an Object Using a Wearable Robot for an Upper Limb

Cited by 7 publications

References 7 publications

Intention Detection Strategies for Robotic Upper-Limb Orthoses: A Scoping Review Considering Usability, Daily Life Application, and User Evaluation

Intention Detection Strategies for Robotic Upper-Limb Orthoses: A Scoping Review Considering Usability, Daily Life Application, and User Evaluation

A Novel Concept for Wearable, Modular and Soft Support Systems Used in Industrial Environments

A review of upper-limb soft exosuit

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